Package edu.tufts.hrilab.interfaces

Interface MoveBaseInterface

All Known Implementing Classes:
Forklift, MockMoveBaseComponent, MockUnityPR2Component, MoveBaseComponent
public interface MoveBaseInterface
Provides simplified access to the ROS move base component on the PR2. This interface is convenient when you want to be able to send navigation goals without tracking their progress.

  • Method Details

    • getPoseGlobalQuat

      double[] getPoseGlobalQuat()

    • setPoseGlobal

      void setPoseGlobal(double x, double y, double theta)

    • goToLocation

      Justification goToLocation(Symbol location, boolean wait)
      Attempt to reach a named goal location.
      Parameters:
      location - - name of the goal location

    • goToLocation

      Justification goToLocation(Symbol location)
      go to the location and then move forward until certain distance from object in front
      Parameters:
      location - name of the desired location to navigate to
      Returns:
      justification specifying if the robot navigated to the location

    • goToLocation

      Justification goToLocation(Symbol desiredLocation, Symbol initialLocation)
      go to the location and then move forward until certain distance from object in front
      Parameters:
      desiredLocation - name of the desired location to navigate to
      initialLocation - name of the initial location to navigate from -- used for conditions and effects
      Returns:
      justification specifying if the robot navigated to the location

    • goToLocation

      Justification goToLocation(double xdest, double ydest, double quat_x, double quat_y, double quat_z, double quat_w, boolean wait)
      go to the point and orientation
      Parameters:
      xdest - x point
      ydest - y point
      quat_x - x quaternion value
      quat_y - y quaternion value
      quat_z - z quaternion value
      quat_w - w quaternion value
      wait - should robot wait until reached desired point and orientation
      Returns:
      justification if the robot reach the desired point and orientation

    • approachLocation

      Justification approachLocation(Symbol location)
      go to the location and then move forward until certain distance from object in front
      Parameters:
      location - name of the desired location to navigate to
      Returns:
      justification specifying if the robot navigated to the location

    • approachLocation

      Justification approachLocation(Symbol desiredLocation, Symbol initialLocation)
      go to the location and then move forward until certain distance from object in front
      Parameters:
      desiredLocation - name of the desired location to navigate to
      initialLocation - name of the initial location to navigate from -- used for conditions and effects
      Returns:
      justification specifying if the robot navigated to the location

    • stop

      Justification stop()

    • isMoving

      Justification isMoving()

    • checkAt

      List<Map<Variable,Symbol>> checkAt(Term locationTerm)
      Observer to check if the robot is at the specified named location
      Parameters:
      locationTerm - predicate to observe in form: at(?actor, ?location)
      Returns:
      observation result